API referenceC++ APIHoloscanFunctions

holoscan::pose2_exp

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template <typename K>
Pose2<K> holoscan::pose2_exp(
    const Vector3<K> &tangent
)

Exponential map from three-dimensional tangent space to SE(2) manifold space.

For SE(2) this function encodes the tangent space as a three-dimensional vector (tx, ty, a) where (tx, ty) is the translation component and a is the angle.

Returns: Pose on the SE(2) manifold.

Template parameters

K
typename

Scalar type.

Parameters

tangent
const Vector3<K> &

Tangent space vector (tx, ty, angle).